Vehicle CAN bus data (with GPS)
收藏资源简介：
The dataset contains 20Hz sampled CAN bus data from a passenger vehicle, e.g. WheelSpeed FL (speed of the front left wheel), SteerAngle (steering wheel angle), Role, Pitch, and accelerometer values per direction. In contrast to the dataset published at https://zenodo.org/record/2658168#.XMw2m6JS9PY we now have GPS data from the vehicle (see signals 'Latitude_Vehicle' and 'Longitude_Vehicle' in h5 group 'Math') and GPS data from the IMU device (see signals 'Latitude_IMU', 'Longitude_IMU' and 'Time_IMU' in h5 group 'Math') included. However, as it was exported with single_precision, therefore we lost some precision for those GPS values. We are currently looking for a solution and will update the records if possible. For data analysis we use R and R Studio (https://www.rstudio.com/) and the library h5. e.g. check file with R code: library(h5) f <- h5file("file path/20181113_Driver1_Trip1.hdf") summary(f["CAN/Yawrate1"][,]) summary(f["Math/Latitude_IMU"][,]) h5close(f)
本数据集包含某乘用车的20Hz采样CAN总线（CAN bus）数据，具体包括左前轮车速（WheelSpeed FL，前左轮转速）、方向盘转角（SteerAngle）、Role、俯仰角（Pitch）以及各轴向的加速度计数值。与发布于https://zenodo.org/record/2658168#.XMw2m6JS9PY的数据集相比，本数据集新增了车载GPS数据（详见h5组`Math`中的`Latitude_Vehicle`与`Longitude_Vehicle`信号）以及惯性测量单元（IMU）设备的GPS数据（详见h5组`Math`中的`Latitude_IMU`、`Longitude_IMU`与`Time_IMU`信号）。但由于该数据集以单精度（single_precision）格式导出，因此部分GPS数据的精度有所损失。目前我们正在寻求解决方案，若可行将对数据集记录进行更新。本数据集的数据分析采用R语言、R Studio（https://www.rstudio.com/）以及h5库完成。例如可通过以下R代码校验文件： library(h5) f <- h5file("file path/20181113_Driver1_Trip1.hdf") summary(f["CAN/Yawrate1"][,]) summary(f["Math/Latitude_IMU"][,]) h5close(f)
